Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

control_msgs/SingleJointPositionFeedback.h@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_control_msgs_SingleJointPositionFeedback_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_SingleJointPositionFeedback_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace control_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class SingleJointPositionFeedback : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 typedef double _position_type;
garyservin 0:9e9b7db60fd5 19 _position_type position;
garyservin 0:9e9b7db60fd5 20 typedef double _velocity_type;
garyservin 0:9e9b7db60fd5 21 _velocity_type velocity;
garyservin 0:9e9b7db60fd5 22 typedef double _error_type;
garyservin 0:9e9b7db60fd5 23 _error_type error;
garyservin 0:9e9b7db60fd5 24
garyservin 0:9e9b7db60fd5 25 SingleJointPositionFeedback():
garyservin 0:9e9b7db60fd5 26 header(),
garyservin 0:9e9b7db60fd5 27 position(0),
garyservin 0:9e9b7db60fd5 28 velocity(0),
garyservin 0:9e9b7db60fd5 29 error(0)
garyservin 0:9e9b7db60fd5 30 {
garyservin 0:9e9b7db60fd5 31 }
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 34 {
garyservin 0:9e9b7db60fd5 35 int offset = 0;
garyservin 0:9e9b7db60fd5 36 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 37 union {
garyservin 0:9e9b7db60fd5 38 double real;
garyservin 0:9e9b7db60fd5 39 uint64_t base;
garyservin 0:9e9b7db60fd5 40 } u_position;
garyservin 0:9e9b7db60fd5 41 u_position.real = this->position;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 51 union {
garyservin 0:9e9b7db60fd5 52 double real;
garyservin 0:9e9b7db60fd5 53 uint64_t base;
garyservin 0:9e9b7db60fd5 54 } u_velocity;
garyservin 0:9e9b7db60fd5 55 u_velocity.real = this->velocity;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->velocity);
garyservin 0:9e9b7db60fd5 65 union {
garyservin 0:9e9b7db60fd5 66 double real;
garyservin 0:9e9b7db60fd5 67 uint64_t base;
garyservin 0:9e9b7db60fd5 68 } u_error;
garyservin 0:9e9b7db60fd5 69 u_error.real = this->error;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 offset += sizeof(this->error);
garyservin 0:9e9b7db60fd5 79 return offset;
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 83 {
garyservin 0:9e9b7db60fd5 84 int offset = 0;
garyservin 0:9e9b7db60fd5 85 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 86 union {
garyservin 0:9e9b7db60fd5 87 double real;
garyservin 0:9e9b7db60fd5 88 uint64_t base;
garyservin 0:9e9b7db60fd5 89 } u_position;
garyservin 0:9e9b7db60fd5 90 u_position.base = 0;
garyservin 0:9e9b7db60fd5 91 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 92 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 93 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 94 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 95 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 96 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 97 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 98 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 99 this->position = u_position.real;
garyservin 0:9e9b7db60fd5 100 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 101 union {
garyservin 0:9e9b7db60fd5 102 double real;
garyservin 0:9e9b7db60fd5 103 uint64_t base;
garyservin 0:9e9b7db60fd5 104 } u_velocity;
garyservin 0:9e9b7db60fd5 105 u_velocity.base = 0;
garyservin 0:9e9b7db60fd5 106 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 107 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 108 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 109 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 110 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 111 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 112 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 113 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 114 this->velocity = u_velocity.real;
garyservin 0:9e9b7db60fd5 115 offset += sizeof(this->velocity);
garyservin 0:9e9b7db60fd5 116 union {
garyservin 0:9e9b7db60fd5 117 double real;
garyservin 0:9e9b7db60fd5 118 uint64_t base;
garyservin 0:9e9b7db60fd5 119 } u_error;
garyservin 0:9e9b7db60fd5 120 u_error.base = 0;
garyservin 0:9e9b7db60fd5 121 u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 122 u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 123 u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 124 u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 125 u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 126 u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 127 u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 128 u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 129 this->error = u_error.real;
garyservin 0:9e9b7db60fd5 130 offset += sizeof(this->error);
garyservin 0:9e9b7db60fd5 131 return offset;
garyservin 0:9e9b7db60fd5 132 }
garyservin 0:9e9b7db60fd5 133
garyservin 0:9e9b7db60fd5 134 const char * getType(){ return "control_msgs/SingleJointPositionFeedback"; };
garyservin 0:9e9b7db60fd5 135 const char * getMD5(){ return "8cee65610a3d08e0a1bded82f146f1fd"; };
garyservin 0:9e9b7db60fd5 136
garyservin 0:9e9b7db60fd5 137 };
garyservin 0:9e9b7db60fd5 138
garyservin 0:9e9b7db60fd5 139 }
garyservin 0:9e9b7db60fd5 140 #endif